master/datagram.h
author Florian Pose <fp@igh-essen.com>
Thu, 21 Feb 2008 15:54:10 +0000
changeset 810 7d7c59e1427e
parent 809 ec4ef8911824
child 815 002fe9ec778f
permissions -rw-r--r--
Avoided warning concerning EC_READ/WRITE() macros on some compilers.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it
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 *  and/or modify it under the terms of the GNU General Public License
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 *  as published by the Free Software Foundation; either version 2 of the
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 *  License, or (at your option) any later version.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be
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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *  GNU General Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License
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 *  along with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  The right to use EtherCAT Technology is granted and comes free of
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 *  charge under condition of compatibility of product made by
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 *  Licensee. People intending to distribute/sell products based on the
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 *  code, have to sign an agreement to guarantee that products using
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 *  software based on IgH EtherCAT master stay compatible with the actual
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 *  EtherCAT specification (which are released themselves as an open
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 *  standard) as the (only) precondition to have the right to use EtherCAT
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 *  Technology, IP and trade marks.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT datagram structure.
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*/
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/*****************************************************************************/
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#ifndef _EC_DATAGRAM_H_
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#define _EC_DATAGRAM_H_
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#include <linux/list.h>
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#include <linux/time.h>
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#include <linux/timex.h>
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#include "globals.h"
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/*****************************************************************************/
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/** size of the datagram description string */
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#define EC_DATAGRAM_NAME_SIZE 20
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/*****************************************************************************/
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/** EtherCAT datagram type.
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 */
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typedef enum {
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    EC_DATAGRAM_NONE = 0x00, /**< Dummy. */
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    EC_DATAGRAM_APRD = 0x01, /**< Auto-increment physical read. */
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    EC_DATAGRAM_APWR = 0x02, /**< Auto-increment physical write. */
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    EC_DATAGRAM_NPRD = 0x04, /**< Node-addressed physical read. */
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    EC_DATAGRAM_NPWR = 0x05, /**< Node-addressed physical write. */
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    EC_DATAGRAM_BRD  = 0x07, /**< Broadcast read. */
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    EC_DATAGRAM_BWR  = 0x08, /**< Broadcast write. */
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    EC_DATAGRAM_LRW  = 0x0C  /**< Logical read/write. */
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} ec_datagram_type_t;
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/*****************************************************************************/
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/** EtherCAT datagram state.
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 */
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typedef enum {
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    EC_DATAGRAM_INIT,      /**< Initial state of a new datagram. */
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    EC_DATAGRAM_QUEUED,    /**< Queued for sending. */
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    EC_DATAGRAM_SENT,      /**< Sent (still in the queue). */
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    EC_DATAGRAM_RECEIVED,  /**< Received (dequeued). */
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    EC_DATAGRAM_TIMED_OUT, /**< Timed out (dequeued). */
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    EC_DATAGRAM_ERROR      /**< Error while sending/receiving (dequeued). */
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} ec_datagram_state_t;
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/*****************************************************************************/
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/** EtherCAT datagram.
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 */
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typedef struct {
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    struct list_head list; /**< Needed by domain datagram lists. */
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    struct list_head queue; /**< Master datagram queue item. */
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    struct list_head sent; /**< Master list item for sent datagrams. */
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    ec_datagram_type_t type; /**< Datagram type (APRD, BWR, etc.). */
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    uint8_t address[EC_ADDR_LEN]; /**< Recipient address. */
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    uint8_t *data; /**< Datagram payload. */
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    ec_origin_t data_origin; /**< Origin of the \a data memory. */
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    size_t mem_size; /**< Datagram \a data memory size. */
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    size_t data_size; /**< Size of the data in \a data. */
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    uint8_t index; /**< Index (set by master). */
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    uint16_t working_counter; /**< Working counter. */
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    ec_datagram_state_t state; /**< State. */
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    cycles_t cycles_sent; /**< Time, when the datagram was sent. */
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    unsigned long jiffies_sent; /**< Jiffies, when the datagram was sent. */
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    cycles_t cycles_received; /**< Time, when the datagram was received. */
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    unsigned long jiffies_received; /**< Jiffies, when the datagram was
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                                      received. */
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    unsigned int skip_count; /**< Number of requeues when not yet received. */
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    unsigned long stats_output_jiffies; /**< Last statistics output. */
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    char name[EC_DATAGRAM_NAME_SIZE]; /**< Description of the datagram. */
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} ec_datagram_t;
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/*****************************************************************************/
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void ec_datagram_init(ec_datagram_t *);
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void ec_datagram_clear(ec_datagram_t *);
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int ec_datagram_prealloc(ec_datagram_t *, size_t);
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int ec_datagram_nprd(ec_datagram_t *, uint16_t, uint16_t, size_t);
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int ec_datagram_npwr(ec_datagram_t *, uint16_t, uint16_t, size_t);
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int ec_datagram_aprd(ec_datagram_t *, uint16_t, uint16_t, size_t);
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int ec_datagram_apwr(ec_datagram_t *, uint16_t, uint16_t, size_t);
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int ec_datagram_brd(ec_datagram_t *, uint16_t, size_t);
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int ec_datagram_bwr(ec_datagram_t *, uint16_t, size_t);
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int ec_datagram_lrw(ec_datagram_t *, uint32_t, size_t, uint8_t *);
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void ec_datagram_print_wc_error(const ec_datagram_t *);
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void ec_datagram_output_stats(ec_datagram_t *datagram);
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/*****************************************************************************/
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#endif